System for storing and transporting storage containers

ABSTRACT

A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system includes a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. A transfer column is adapted for transport of a storage container between the container handling vehicle and a delivery space is situated at a lower end of the transfer column. A delivery system includes a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location. A vehicle lift device is for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the second horizontal plane and a second lift stop position adjacent a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.

TECHNICAL FIELD

The present invention relates to a system for storing and transportingstorage containers and a method for operating the system.

Background and Prior Art

FIGS. 1(a) and 2(a) disclose a typical prior art automated storage andretrieval system 100 with a framework structure. FIGS. 1(b) and 2(b)disclose prior art container handling vehicles 3 a operating theautomated storage and retrieval system 100 disclosed in FIGS. 1(a) and2(a), respectively.

The framework structure defines a storage grid 104 comprising aplurality of upright/vertical members 102 and optionally a plurality ofhorizontal members 103 supporting the upright members 102. The members102, 103 may typically be made of metal, e.g. extruded aluminiumprofiles.

The storage grid 104 comprises multiple grid columns 112. A largemajority of the grid columns are also termed storage columns 105, inwhich storage containers 106, also known as bins, are stacked one on topof another to form stacks 107.

Each storage container 106 may typically hold a plurality of productitems (not shown), and the product items within a storage container 106may be identical or may be of different product types depending on theapplication.

The storage grid 104 guards against horizontal movement of the ofstorage containers 106 in the stacks 107, and guides vertical movementof the containers 106, but does normally not otherwise support thestorage containers 106 when stacked.

The automated storage and retrieval system 100 comprises a rail system108 (or a top rail grid) arranged in a grid pattern across the top ofthe storage grid 104, on which rail system 108 a plurality of storagecontainer handling vehicles 3 a (as exemplified in FIGS. 1(b) and 2(b))are operated to raise storage containers 106 from, and lower storagecontainers 106 into, the storage columns 105, and also to transport thestorage containers 106 above the storage columns 105.

The rail system 108 comprises a first set of parallel rails 110 arrangedto guide movement of the storage container handling vehicles 3 a in afirst direction X across the top of the rail system 108, and a secondset of parallel rails 111 arranged perpendicular to the first set ofrails 110 to guide movement of the container handling vehicles 3 a in asecond direction Y which is perpendicular to the first direction X. Inthis way, the rail system 108 defines the upper ends of the grid columns112 above which the storage container handling vehicles 3 a can movelaterally, i.e. in a plane which is parallel to the horizontal X-Yplane. Commonly, at least one of the sets of rails 110, 111 is made upof dual-track rails allowing two container handling vehicles to passeach other on neighbouring grid cells 122. Dual-track rails arewell-known and disclosed in for instance WO 2015/193278 A1 and WO2015/140216 A1.

The horizontal extent of one of the grid cells 122 constituting the gridpattern is in FIGS. 1(a) and 2(a) marked by thick lines.

Each grid cell 122 has a width which is typically within the interval of30 to 150 cm, and a length which is typically within the interval of 50to 200 cm. Each grid opening 115 has a width and a length which istypically 2 to 10 cm less than the width and the length of the grid cell122 due to the horizontal extent of the rails 110, 111.

Each prior art container handling vehicle 3 a comprises a vehicle bodyand a wheel arrangement of eight wheels 6, wherein a first set of fourwheels enable the lateral movement of the container handling vehicles 3a in the X direction and a second set of the remaining four wheelsenable the lateral movement in the Y direction. One or both sets ofwheels in the wheel arrangement can be lifted and lowered, so that thefirst set of wheels and/or the second set of wheels can be engaged withthe respective set of rails 110, 111 at any one time.

Each prior art container handling vehicle 3 a also comprises a liftingdevice (not shown) for vertical transportation of storage containers106, e.g. raising a storage container 106 from, and lowering a storagecontainer 106 into, a storage column 105. The lifting device comprisesone or more gripping/engaging devices (not shown) which are adapted toengage a storage container 106, and which gripping/engaging devices canbe lowered from the vehicle 3 a so that the position of thegripping/engaging devices with respect to the vehicle 3 a can beadjusted in a third direction Z which is orthogonal the first directionX and the second direction Y.

Conventionally, and also for the purpose of this application, Z=1identifies the uppermost layer of the grid 104, i.e. the layerimmediately below the rail system 108, Z=2 the second layer below therail system 108, Z=3 the third layer etc. In the prior art storage griddisclosed in FIGS. 1A and 2A, Z=8 identifies the lowermost, bottom layerof the grid 104. Consequently, as an example, and using the Cartesiancoordinate system X, Y, Z indicated in FIGS. 1(a) and 2(a). The storagecontainer identified as 106′ in FIG. 1(a) can be said to occupy gridlocation or cell X=10, Y=2, Z=3. The container handling vehicles 3 a canbe said to travel in layer Z=0 and each grid column can be identified byits X and Y coordinates.

Each container handling vehicle 3 a comprises a storage compartment orspace (not shown) for receiving and stowing a storage container 106 whentransporting the storage container 106 across the top of the storagegrid 104. The storage space may comprise a cavity arranged centrallywithin the vehicle body, e.g. as is described in WO2014/090684A1, thecontents of which are incorporated herein by reference.

Alternatively, the container handling vehicles 3 a may have a cantileverconstruction as described in NO317366, the contents of which are alsoincorporated herein by reference.

The container handling vehicles 3 a may have a footprint, i.e. an extentin the X and Y directions, which is generally equal to the horizontalarea of a grid cell 122, i.e. the extent of a grid cell 122 in the X andY directions, e.g. as is described in WO2015/193278A1, the contents ofwhich are incorporated herein by reference.

Alternatively, the container handling vehicles 3 a may have a footprintwhich is larger than the horizontal area of a grid cell 122, e.g. as isdisclosed in WO2014/090684A1.

The rail system 108 may be a single rail system, as is shown in FIG.3(a). Alternatively, the rail system 108 may be a double rail system, asis shown in FIG. 3(b), thus allowing a container handling vehicle 3 ahaving a footprint generally corresponding to the lateral area definedby a grid column 112 to travel along a row of grid columns even ifanother container handling vehicle 3 a is positioned above a grid columnneighboring that row. Both the single and double rail system, or acombination comprising a single and double rail arrangement in a singlerail system 108, forms a grid pattern in the horizontal plane Pcomprising a plurality of rectangular and uniform grid locations or gridcells 122, where each grid cell 122 comprises a grid opening 115 beingdelimited by a pair of rails 110 a, 110 b of the first rails 110 and apair of rails 111 a, 111 b of the second set of rails 111. In FIG. 3(c)the grid cell 122 is indicated by a dashed box.

Consequently, rails 110 a and 110 b form pairs of rails definingparallel rows of grid cells running in the X direction, and rails 111 aand 111 b form pairs of rails defining parallel rows of grid cellsrunning in the Y direction.

As shown in FIG. 3(c), each grid cell 122 has a width Wc which istypically within the interval of 30 to 150 cm, and a length Lc which istypically within the interval of 50 to 200 cm. Each grid opening 115 hasa width Wo and a length Lo which is typically 2 to 10 cm less than thewidth Wc and the length Lc of the grid cell 122.

In the X and Y directions, neighboring grid cells are arranged incontact with each other such that there is no space there-between.

In a storage grid 104, a majority of the grid columns 112 are storagecolumns 105, i.e. grid columns where storage containers 106 are storedin stacks 107. However, a grid 104 normally has at least one grid column112 which is not used for storing storage containers 106, but isarranged at a location wherein the container handling vehicles 3 a candrop off and/or pick up storage containers 106 so that they can betransported to a second location (not shown) where the storagecontainers 106 can be accessed from outside of the grid 104 ortransferred out of or into the grid 104. Within the art, such a locationwherein the container handling vehicles 3 a can drop off and/or pick upstorage containers 106 is normally referred to as a “port” and the gridcolumn at which the port is located may be referred to as a “delivery”or “transfer column” 119, 120. The drop-off and pick-up ports are theupper ends/openings of a respective delivery/transfer column 119, 120.

The prior art storage grids 104 in FIGS. 1(a) and 2(a) comprise twodelivery columns 119 and 120. The delivery column 119 may for examplecomprise a dedicated drop-off port where the container handling vehicles3 a can drop off storage containers 106 to be transported through thedelivery column 119 and further to e.g. a picking/stocking station, andthe second delivery column 120 may comprise a dedicated pick-up portwhere the container handling vehicles 3 a can pick up storage containers106 that have been transported through the delivery column 120 from e.g.a picking/stocking station. Each of the ports of the first and seconddelivery column may be suitable for both pick-up and drop-off of storagecontainers.

The second location may typically be a picking/stocking station, whereinproduct items are removed from and/or positioned into the storagecontainers 106. In a picking/stocking station, the storage containers106 are normally never removed from the automated storage and retrievalsystem 100, but are returned into the storage grid 104 once accessed.

For monitoring and controlling the automated storage and retrievalsystem 100, e.g. monitoring and controlling the location of respectivestorage containers 106 within the storage grid 104; the content of eachstorage container 106; and the movement of the container handlingvehicles 3 a so that a desired storage container 106 can be delivered tothe desired location at the desired time without the container handlingvehicles 3 a colliding with each other, the automated storage andretrieval system 100 comprises a computerized control system (not shown)which typically comprises a database for keeping track of the storagecontainers 106.

A conveyor system comprising conveyor belts or rollers is commonlyemployed to transport the storage containers from a lower end of thedelivery/transfer columns 119, 120 to e.g. a picking/stocking station.

A conveyor system may also be arranged to transfer storage containersbetween different storage grids, e.g. as is described inWO2014/075937A1, the contents of which are incorporated herein byreference.

Further, WO2016/198467A1, the contents of which are incorporated hereinby reference, discloses an example of a prior art access system havingconveyor belts (FIGS. 5a and 5b in WO2016/198467A1) and a frame mountedrail (FIGS. 6a and 6b in WO2016/198467A1) for transporting storagecontainers between delivery/transfer columns and stations whereoperators can access the storage containers.

When a storage container 106 stored in the storage grid 104 disclosed inFIG. 1(a) is to be accessed, one of the container handling vehicles 3 ais instructed to retrieve the target storage container 106 from itsposition in the grid 104 and transport it to and/or through the deliverycolumn 119. This operation involves moving the container handlingvehicle 3 a to a grid location above the storage column 105 in which thetarget storage container 106 is positioned, retrieving the storagecontainer 106 from the storage column 105 using the container handlingvehicle's lifting device (not shown), and transporting the storagecontainer 106 to the delivery column 119. If the target storagecontainer 106 is located deep within a stack 107, i.e. with one or aplurality of other storage containers positioned above the targetstorage container 106, the operation also involves temporarily movingthe above-positioned storage containers prior to lifting the targetstorage container 106 from the storage column 105. This step, which issometimes referred to as “digging” within the art, may be performed withthe same container handling vehicle 3 a that is subsequently used fortransporting the target storage container 106 to the delivery column, orwith one or a plurality of other cooperating container handling vehicles3 a. Alternatively, or in addition, the automated storage and retrievalsystem 100 may have container handling vehicles 3 a specificallydedicated to the task of temporarily removing storage containers 106from a storage column 105. Once the target storage container 106 hasbeen removed from the storage column 105, the temporarily removedstorage containers can be repositioned into the original storage column105. However, the removed storage containers may alternatively berelocated to other storage columns 105.

When a storage container 106 is to be stored in the grid 104, one of thecontainer handling vehicles 3 a is instructed to pick up the storagecontainer 106 from the delivery column 120 and to transport it to a gridlocation above the storage column 105 where it is to be stored. Afterany storage containers positioned at or above the target position withinthe storage column stack 107 have been removed, the container handlingvehicle 3 a positions the storage container 106 at the desired position.The removed storage containers may then be lowered back into the storagecolumn 105, or relocated to other storage columns 105.

A problem related to prior art automated storage and retrieval systemsis the utilization of storage facilities such as a warehouse for housingthe automated storage and retrieval systems. The demand for larger sizedautomated storage and retrieval systems is increasing; a demand that maybe challenged by the specific volumetric layout of certain warehouseswhen orienting the automated storage and retrieval systems in a suitableposition to optimize the available storage space. The provision andworking of the automated storage and retrieval systems limits the actualoutlays and options when fitting the systems into the storage facility.

Each prior art automated storage and retrieval system has been arrangedas a self-contained entity capable of storing and handling the storagecontainers, as well as delivery and retrieval of the storage containers.The vehicles handling the storage containers operate in the horizontalplane P on the top of the system, and to optimize the operation of theautomated storage and retrieval system, the area of the horizontal planeand volume of the storage grid underneath the horizontal plane P arebalanced to obtain an efficient working of the vehicles.

The housing of large scale automated storage and retrieval systemsobviously demands a storage facility with a large volume and ideally acubic or cuboid storage space offers the most suitable premises foroptimizing the operation of the automated storage and retrieval system.

However, not all storing facilities display an efficient cubic orrectangular storage space. The housing may comprise spaces of differentconfigurations and/or dimensions. The ceiling heights and/or floor levelmay for instance differ from one space to another, and the ceilingand/or floor may even be slanting.

Given these non-ideal premises, an optimized utilization of theavailable space is obtained with the prior art automated storage andretrieval systems being fitted into the space of the housing having thelargest volume. Consequently, some of the smaller spaces may be leftvacant and thus valuable storage space is wasted.

In order to optimize available storage space within a warehouse a priorart automated storage and retrieval systems introduces a container/binlift for conveying a storage container from grids that are located atdifferent vertical levels on top of each other and to a delivery station(see WO 2014/075937 A which is hereby incorporated by reference).

The operation of the prior art bin lift necessitates the presence ofvehicles for delivering and receiving the bins for the transfer ofstorage containers to the delivery station and in between the grids. Thesolution is suitable for delivering and receiving storage containers toand from the delivery station and when using the bin lift fortransferring storage in between grids. This prior art operation requiresorganizing available vehicles to be prepared for delivery and receivingthe storage containers at their respective storage levels.

In view of the above, it is desirable to provide system for storing andtransporting storage containers and a method for operating such asystem, that solves or at least mitigates one or more of theaforementioned problems related to the use of prior art storage andretrieval systems allowing storage containers to be transported.

An object of the present invention is to optimize available storagespace within a warehouse which may comprise spaces having differentconfigurations and/or dimensions, such as e.g. several floor levelsand/or may comprise a third-party storage, production and distributionsystem such as a plurality of automated storage and retrieval gridswhich are horizontally or horizontally and vertically displaced.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independentclaims, while the dependent claims describe other optionalcharacteristics of the invention.

In particular, the invention concerns a system for storing andtransporting storage containers which comprises an automated storage andretrieval grid, a delivery system and a vehicle lift device.

The automated storage and retrieval grid comprises vertical membersdefining multiple storage columns for storing storage containers on topof each other in vertical stacks. The vertical members areinterconnected at their upper ends by a container handling vehicle railsystem arranged to guide at least one container handling vehicle. Thecontainer handling vehicle is configured to raise storage containersfrom, and lower storage containers into the storage columns, and totransport the storage containers above the storage columns.

The container handling vehicle rail system is arranged in a firsthorizontal plane and comprises a first set of parallel rails extendingin a first direction X, and a second set of parallel rails and extendingin a second direction Y which is orthogonal to the first direction X.The first and second sets of rails form a grid pattern in the firsthorizontal plane comprising a plurality of adjacent container handlingvehicle grid cells. Each container handling vehicle grid cell comprisesa container handling vehicle grid opening defined by a pair ofneighboring rails of the first set of rails and a pair of neighboringrails of the second set of rails. Further, the automated storage andretrieval grid comprises a transfer column adapted for transport of astorage container between the container handling vehicle and a deliveryspace situated at a lower end of the transfer column.

The container handling vehicles may be as shown in the backgroundsection having a footprint, i.e. an extent in the X and Y directions,which is generally larger or equal to the horizontal area of a gridcell.

The delivery system comprises a first delivery rail system having atleast one set of parallel rails arranged in a second horizontal planeguiding at least one delivery vehicle thereon. The delivery vehicle isadapted to receive and/or deliver a storage container at a storagecontainer delivery location arranged below the delivery space of thetransfer column and to move between the storage container deliverylocation and a second location. The first delivery rail system covers atleast an area extending from the storage container delivery location tothe second location.

The delivery rail system, on which the delivery vehicles operate may bearranged in a grid pattern in the same way as the rail system of thecontainer handling vehicles. The delivery rail system may extend acrossthe lower level of the storage grid, covering at least one, preferablyall, of the storage container delivery locations, as well as thedistance from the storage grid to the second location.

The first delivery rail system may be dual-track rails, such that thedelivery vehicles may pass each other upon adjacent grid cells of thefirst delivery rail system when moving in the one direction. In otherwords, the rails of the first delivery rail system may extend in twoperpendicular horizontal directions, and at least one of the railsextending in one of the two perpendicular directions of the firstdelivery rail system may be dual-track rails, such that the deliveryvehicles may pass each other upon adjacent grid cells of the firstdelivery rail system when moving in the one direction.

Each grid cell of the delivery rail system may have a size which isequal or similar to the size of the grid cells of the container handlingvehicle rail system for the container handling vehicles. In addition tofacilitate production and ensure costs by allowing use of alreadydesigned and tested components, the required alignment of the deliveryvehicle below the upper rail system for the container handling vehiclebecomes easier to achieve.

A typical width of each grid cell of the delivery rail system is withinthe interval of 30 to 150 cm, and a typical length is within theinterval of 50 to 200 cm.

The widths and the lengths of each grid opening are typically 2 to 10 cmless than the widths and the lengths of the corresponding grid cell(FIG. 3 (c).

Since the delivery vehicle can be operating directly under the containerhandling vehicles on top of the storage grid, its dimensions maynaturally correspond to the grid cell size of the storage grid above.Many of the same considerations as for the container handling vehiclesapply, for example the ability for the vehicles to pass each other onadjacent grid cells. But for the delivery vehicle the single grid spaceconfiguration also has other advantages such as to avoid interferencewith upright members of the storage grid.

The delivery vehicle may be a remotely operated delivery vehiclecomprising

-   -   rolling devices being configured to move the delivery vehicle on        the first delivery rail system,    -   rolling device motors for driving the rolling devices, and    -   a power source configured to provide propulsion power to the        rolling device motors.

The rolling devices of the delivery vehicle may be driving belts orwheels.

In one embodiment the delivery vehicle may comprises eight wheels,wherein a first set of four wheels enable the lateral movement of thedelivery vehicle in a first direction and a second set of the remainingfour wheels enable the lateral movement in a second direction beingperpendicular to the first direction. One or both sets of wheels in thewheel arrangement is connected to a wheel lifting mechanism and can belifted and lowered, so that the first set of wheels and/or the secondset of wheels can be engaged with the respective set of rails of thedelivery rail system at any one time.

In one embodiment the delivery vehicle may comprise a weighing mechanismto measure the weight of the storage container, for example acommercially available electronic weighing scale. Such a weighingmechanism may provide information concerning the content inside eachstorage container such as the total weight, the number of units, theinternal weight distribution and/or the location within the automatedstorage and retrieval grid the storage container should be placed.

The vehicle lift device is arranged to transfer at least one deliveryvehicle between the second location and a third location arranged in athird horizontal plane being at a different vertical level than thesecond horizontal plane.

The third location arranged in the third horizontal plane may bearranged apart from/external to the automated storage and retrievalsystem; i.e. when the delivery vehicle is arranged on the third locationit cannot deliver or receive storage containers to or from the automatedstorage and retrieval system. To deliver or receive storage containersto or from the automated storage and retrieval system, the deliveryvehicle must be arranged below a transfer column.

In one embodiment the the third location comprises an interfaceconnected to a third-party storage, production and distribution system.

Such a third-party storage, production and distribution system may beanother delivery rail system being different from the delivery systemcomprising the first delivery rail system, or it may be a productionfacility, an assembling facility, a reception, a shipping location, etc.

If the third location comprises an interface connectable to athird-party storage, production and distribution system, such as anotherdelivery system transferring bins to and from another automated storageand retrieval system, the third location will be integrable with otherdelivery system system such that storage containers can be transportedbetween the third location and the delivery system of the third-partystorage, production and distribution system.

If the third horizontal plane which includes the third locationcomprises a delivery rail system as disclosed for the second horizontalplane, the delivery rail system of the third horizontal plane maycomprise an interface connectable to a third-party storage, productionand distribution system, such as another delivery system transferringbins to and from another automated storage and retrieval system. In sucha case the delivery rail system of the third horizontal plane may beintegrable with the third-party storage, production and distributionsystem such that storage containers can be transported between thedelivery rail system of the third horizontal plane and the deliverysystem of the third-party storage, production and distribution system.

In another embodiment the third location and/or delivery rail system ofthe third horizontal plane may be connectable to a third-party storage,production and distribution system such as a production facility,assembling facility, reception or shipping location, etc. The connectionmay be by means of a connectable rail system or a conveyor systemcomprising conveyors employed to transport the storage containersbetween the delivery rail system of the third horizontal plane and thethird-party storage, production and distribution system.

The vehicle lift device may have a lifting arrangement arranged tosupport the at least one delivery vehicle and a lift mechanism formoving the lifting arrangement between a first lift stop position to asecond lift stop position.

The first lift stop position establishes access between the liftingarrangement and the second location for enabling relocation of the atleast one delivery vehicle between a support position on the liftingarrangement and an operative position at the second location on thefirst delivery rail system, and the second lift stop positionestablishes access between the lifting arrangement and the thirdlocation for enabling relocation of the at least one delivery vehiclebetween the support position on the lifting arrangement and an operativeposition at the third location.

The second location arranged on the delivery rail system may be arrangedoutside the automated storage and retrieval grid such as outside an areadefined by the vertical projection of the automated storage andretrieval grid. The part of the delivery rail system comprising thesecond location may be at least equal to the area of one grid cell ofthe delivery rail system to enable the vehicle lift device to lift thedelivery vehicle in an upwards vertical direction.

The lift mechanism may be configured to move the lifting arrangement ina substantially vertical or purely vertical direction between the firstlift stop position and the second lift stop position.

However, if the first lift stop position is spaced so far away from thesecond lift stop position in the horizontal direction that asubstantially vertical displacement of the lifting arrangement is notpossible, the vertical lift device may have an inclined orientation i.e.have a substantial horizontal component, depending on the horizontal gapbetween the first and second lift stop position. The lifting arrangementwould then make an inclined moving path covering the vertical andhorizontal gap between the first and second lift stop position.

Further, the lifting arrangement may comprise a guiding and positioningstructure for maintaining the at least one vehicle in a motionless ornear motionless position on the lifting arrangement during transfer ofthe lifting arrangement between the first and second lift stop position.

The guiding and positioning structure may comprise a platform railarrangement having at least a first set of parallel rails for placingthe vehicle during transfer between the first and second lift stopposition.

The platform rail arrangement may be level with the first delivery railsystem when the lifting arrangement is placed in the first lift stopposition thereby enabling the at least one delivery vehicle to movebetween the first delivery rail system and the platform railarrangement, and the platform rail arrangement may be level with asecond delivery rail system at the third location when the liftingarrangement is placed in the second lift stop position thereby enablingthe at least one delivery vehicle to move between the second deliveryrail system and the platform rail arrangement.

Thus, the first set of parallel rails of the platform rail arrangementmay be compatible with and co-operate with the rails of the firstdelivery rail system such that the platform rail arrangement can be seenas an extension of the corresponding first set of parallel rails of thefirst delivery rail system when the platform rail arrangement ispositioned in the first lift stop position. Then the at least onedelivery vehicle having wheels engaged with the rails of the firstdelivery rail system can easily move on to the first set of parallelrails of the platform rail arrangement.

The first delivery rail system may comprise at least a first set ofparallel rails extending in a third direction X′ and at least a secondset of parallel rails extending in a fourth direction Y′ which isorthogonal with the third direction X′. Further, the platform railarrangement may comprise the at least one first set of parallel railsextending in the same third direction X′ and at least a second set ofparallel rails extending in the same fourth direction Y′. The platformrail arrangement may then be compatible with the first delivery railsystem such that the delivery vehicle can to or from the supportposition of the platform rail arrangement in the third and/or fourthdirection.

Further, the horizontal extent/foot print of the platform railarrangement may be equal to or larger than the horizontal extent/footprint of the at least one delivery vehicle to be transferred between thefirst lift stop position and the second lift stop position. If thehorizontal extent of the platform rail arrangement is larger than thehorizontal extent of the at least one delivery vehicle, it may extentfurther in either the third direction X′, fourth direction Y′ or in boththird and fourth directions.

The platform rail arrangement may comprise multiple first and/or secondsets of parallel rails allowing more than one delivery vehicle to bearranged on the platform rail arrangement.

In another exemplary embodiment, the guiding and positioning structurecomprises a base plate structure for receiving the at least one deliveryvehicle.

The lifting arrangement, especially if it is a base plate structure mayfurther comprise at least two side walls for receiving the at least onedelivery vehicle in the area defined by the at least two side walls andthe guiding and positioning structure, to protect the delivery vehiclefrom moving off the support position during transportation between thefirst and second lift stop position.

The side walls may project vertically upwards from the base platestructure for maintaining the delivery vehicle in a motionless or nearmotionless position during transportation on the lifting arrangement.The delivery vehicle may be held securely on the vehicle lift deviceduring its transport thereon.

The number of side walls may be chosen dependent on the specific needfor support during transport, and may in one aspect comprise three sidewalls.

The side wall may be adjusted between an open and closed position forletting the vehicle on and off the lifting arrangement.

Further, the lift device may have a first safety barrier configured torestrict further horizontal movement of the at least one deliveryvehicle when the at least one delivery vehicle is moving to or from thesupport position. The first safety barrier may be in the form of asafety loop preventing the vehicle from moving off the platform.Further, it may be arranged on the lift device at the highest lift stopposition.

The vehicle lift device may further comprises a second safety barrierextending vertically for restricting horizontal displacement of the atleast one delivery vehicle when the platform is moving between the firstlift stop position and the second lift stop position. Thus, the secondsafety barrier may extend vertically from the first lift stop positionto the second lift stop position.

The system may comprise a plurality of vehicle lift devices fortransferring delivery vehicles between the second and third horizontalplane.

As mentioned above the third location may be a part of the seconddelivery rail system. The second delivery rail system may comprise atleast one set of parallel rails arranged in the third horizontal planefor guiding at least one delivery vehicle thereon. The second deliveryrail system may extend from the third location to a fourth location.

Thus, the first set of parallel rails of the platform rail arrangementof the guiding and positioning structure of the lifting arrangement canbe compatible with the rails of the second delivery rail system suchthat the platform rail arrangement can be seen as an extension of thecorresponding set of parallel rails of the second delivery rail systemwhen the platform rail arrangement is positioned in the second lift stopposition. Then the at least one delivery vehicle having wheels engagedwith the rails of the platform rail arrangement can easily move on tothe set of parallel rails of the second delivery rail system.

The second delivery rail system may comprise a first set of parallelrails arranged in the third horizontal plane and extending in a fifthdirection X″, and a second set of parallel rails arranged in the thirdhorizontal plane and extending in a sixth direction Y″ which isorthogonal to the fifth direction X″, which first and second sets ofrails form a grid pattern.

The third direction X′ of first set of parallel rails of the firstdelivery rail system may be the same as the fifth direction X″ of thefirst set of parallel rails of the second delivery rail system.

The second delivery rail system may be an overpass rail system which maybe in connection with a second vehicle lift device, or it may be adelivery rail system for a second storage grid, or it may be parkingrail system for storing the delivery vehicle, or it may be an accessrail system being in connection with at least one access station wherethe storage container can be accessed by a user or a robot.

Further, the first horizontal plane may be at the same level as thethird horizontal plane.

The system may further comprise a second vehicle lift device fortransfer of the at least one delivery vehicle between the fourthlocation on the second delivery rail system and a fifth locationarranged in a fourth horizontal plane being at a different verticallevel than the third horizontal plane.

The fourth horizontal plane may be at the same vertical level as thesecond horizontal plane.

The container handling vehicle rail system, the first and seconddelivery vehicle rail system and the platform arrangement may have asingle rail system or a double rail system.

The delivery vehicle is as mentioned adapted to receive and/or deliver astorage container at a storage container delivery location and maycomprises a storage container carrier provided above a chassis of thedelivery vehicle for carrying the storage container in place above thedelivery vehicle during transport.

The storage container carrier may be directly connected to the chassisof the delivery vehicle or it may be connected to said chassis via astructure. The structure may be able by turn and/or tilt the storagecontainer.

The present invention further involves a building comprising said systemmentioned above where the second and third horizontal planes representfloors at different levels within the building.

The present invention also involves a method of operating said systemfor storing and transporting storage containers where the systemcomprises

-   -   the automated storage and retrieval grid having vertical members        defining multiple storage columns for storing storage containers        on top of each other in vertical stacks, wherein the vertical        members are interconnected at their upper ends by the container        handling vehicle rail system arranged to guide the at least one        container handling vehicle being configured to raise storage        containers from, and lower storage containers into, the storage        columns, and to transport the storage containers above the        storage columns, wherein the container handling vehicle rail        system comprises the first set of parallel rail arranged in a        first horizontal plane and extending in the first direction X,        and the second set of parallel rails arranged in the first        horizontal plane and extending in the second direction Y which        is orthogonal to the first direction X, which first and second        sets of rails form a grid pattern in the first horizontal plane        comprising a plurality of adjacent container handling vehicle        grid cells, each container handling vehicle grid cell comprising        the container handling vehicle grid opening defined by a pair of        neighboring rails of the first set of rails and a pair of        neighboring rails of the second set of rails, the transfer        column adapted for transport of a storage container between the        container handling vehicle and a delivery space situated at the        lower end of the transfer column;    -   the delivery system comprising a first delivery rail system        having at least one set of parallel rails arranged in a second        horizontal plane guiding at least one delivery vehicle thereon,        wherein the delivery vehicle is adapted to receive or deliver a        storage container at the storage container delivery location        arranged below the delivery space of the transfer column and to        move between the storage container delivery location and a        second location, the first delivery rail system is at least        covering an area extending from the storage container delivery        location to the second location,    -   the vehicle lift device for transfer of the at least one        delivery vehicle between the second location and a third        location arranged in a third horizontal plane being at a        different vertical level than the second horizontal plane.

The method comprises the steps of:

i) moving the delivery vehicle from the second location to a first liftposition of the vehicle lift device,

ii) moving the delivery vehicle to a second lift stop position of thevehicle lift device enabling access between the vehicle lift device andthe third location, and

iii) moving the delivery vehicle to the third location.

The delivery vehicle may move onto the first lift stop position of thevehicle lift device in one direction and move from the second lift stopposition of the vehicle lift device on to the third location in theopposite direction.

However, if the first and the second lift stop positions are at leastpartly overlapping in the horizontal plane, the delivery vehicle maymove onto the first lift stop position and off from the second lift stopposition in the same direction.

As mentioned, the vehicle lift device may comprise a lifting arrangementarranged to support the at least one delivery vehicle and a liftmechanism arranged to move the lifting arrangement between the firstlift stop position and the second lift stop position. The first liftstop position may establish access between the lifting arrangement andthe second location for enabling relocation of the at least one deliveryvehicle between a support position on the lifting arrangement and anoperative position on the second location on the first delivery railsystem, and the second lift stop position may establish access betweenthe lifting arrangement and the third location for enabling relocationof the at least one delivery vehicle between the support position on thelifting arrangement and an operative position on the third location.

Thus, steps i) to iii) above may involve:

i) moving the delivery vehicle from the second location on to thelifting arrangement placed at in the first lift position of the vehiclelift device,

ii) moving the lifting arrangement with the delivery vehicle to thesecond lift stop position of the vehicle lift device enabling accessbetween the lifting arrangement and the third location, and

iii) moving the delivery vehicle to the third location.

Prior to step i) above the method may comprise the steps of:

a) moving the container handling vehicle to a location on the containerhandling vehicle rail system for transferring a storage container intothe transfer column,

b) moving the delivery vehicle to the storage container deliverylocation,

c) transferring the storage container from the container handlingvehicle through the transfer column to the delivery space and on to thedelivery vehicle,

d) moving the delivery vehicle from the storage container deliverylocation to the second location to thereby move the storage container.

After step iii) the method may comprise the step of

iv) moving the delivery vehicle to an access area for handling thestorage container by a robotic operator and/or a human operator.

The invention may provide a storage and retrieval system comprising aplurality of separated automated storage and retrieval grids eachsubstantially as described herein, which grids are interconnected by atleast one delivery system as described herein and at least one vehiclelift device as described herein so that storage containers may betransported between the grids by use of delivery vehicles and the atleast one vehicle lift device.

The invention may provide a method of transporting a storage containerto a predetermined location using a system as described herein bylifting a delivery vehicle carrying the storage container. The inventionmay provide a method of transferring storage containers betweenautomated storage and retrieval grids as described herein by lifting adelivery vehicle carrying the storage container. The delivery vehiclemay carry the storage container above itself

BRIEF DESCRIPTION OF THE DRAWINGS

Following drawings are appended to facilitate the understanding of theinvention.

FIG. 1a is a perspective view of a grid of a prior art automated storageand retrieval system.

FIG. 1b is a perspective view of a prior art storage container handlingvehicle.

FIG. 2a is a perspective view of a grid of a prior art automated storageand retrieval system.

FIG. 2b is a perspective view of a prior art storage container handlingvehicle.

FIG. 3a is a top view of a prior art single rail grid.

FIG. 3b is a top view of a prior art double rail grid.

FIG. 3c is an illustration of the width and length of a grid cell.

FIG. 4 shows a perspective view of an exemplary automated storage andretrieval grid and a delivery vehicle system.

FIG. 5 is a perspective view of a system according to an exemplaryembodiment of the present invention with a vehicle lift device in thesecond lift stop position.

FIG. 6 is a perspective view of a system according to an exemplaryembodiment of the present invention with a vehicle lift device in thefirst lift stop position.

FIG. 7 is a perspective view of a system according to an exemplaryembodiment of the present invention with a vehicle lift device inbetween the first and second lift stop position.

FIG. 8 is a side view of a system according to an exemplary embodimentof the present invention with the vehicle lift device in the second liftstop position.

FIG. 9 is a perspective view of a vehicle transport system according toan exemplary embodiment of the invention having two vehicle liftdevices.

FIG. 10 is a detailed view of a delivery vehicle positioned on thelifting arrangement of the vehicle lift device located at a lift stopposition.

FIG. 11 shows a perspective view of a system according to an exemplaryembodiment of the present invention involving a first storage andretrieval grid having a first delivery rail system extending from belowthe first storage and retrieval grid to a second location and a secondstorage and retrieval grid having a second delivery rail systemextending from below the second storage and retrieval grid to a thirdlocation, and a vehicle lift device transferring a delivery vehiclebetween the second and the third locations.

FIG. 12 shows a perspective view of a system according to an exemplaryembodiment of the present invention involving a first storage andretrieval grid having a first delivery rail system extending from belowthe first storage and retrieval grid to a second location, and a secondstorage and retrieval grid having a second delivery rail systemextending from below the second storage and retrieval grid to a thirdlocation, and an overpass rail, and two vehicle lift devicestransferring a delivery vehicle between the first and second deliveryvehicle rail systems.

In the drawings, like reference numerals have been used to indicate likeparts, elements or features unless otherwise explicitly stated orimplicitly understood from the context.

DETAILED DESCRIPTION OF THE INVENTION

In the following, embodiments of the invention will be discussed in moredetail with reference to the appended drawings. It should be understood,however, that the drawings are not intended to limit the invention tothe subject-matter depicted in the drawings.

Exemplary embodiments of the system according to the present inventionare shown in FIGS. 5 to 12.

FIGS. 1 to 3 have already been described in the background section.

FIG. 4 shows an automated storage and retrieval grid 204. The automatedstorage and retrieval grid 204 has a plurality of verticalmembers/column profiles 202 defining multiple storage columns 205 forstoring storage containers 106 in vertical stacks (not shown). Thevertical members 202 are interconnected at their upper ends by top railsforming a container handling vehicle rail system 208. The containerhandling vehicle rail system 208 comprises a first set of parallel rails210 arranged in a first horizontal plane P1 and extending in a firstdirection X, and a second set of parallel rails 211 arranged in thefirst horizontal plane P1 and extending in a second direction Y which isorthogonal to the first direction X. The first and second sets of rails210, 211 form a grid pattern in the first horizontal plane P1 comprisinga plurality of adjacent container handling vehicle grid cells 222, eachcontainer handling vehicle grid cell 222 comprising a container handlingvehicle grid opening 215 defined by a pair of neighboring rails 210 a,210 b of the first set of rails 210 and a pair of neighboring rails 211a, 211 b of the second set of rails 211. See also FIG. 12 for details.

A storage container handling vehicle 3 a is shown on top of thecontainer handling vehicle rail system 208 arranged in a firsthorizontal plane P1. The storage container handling vehicle 3 a is shownlowering a storage container 106 into a transfer column 219 fortransferring the storage container 106 to the delivery space 220situated at the lower end of the transfer column 219. A delivery vehicle3 c having a storage container carrier 18 on top of its chassis isarranged at a storage container delivery location 360 situated below thedelivery space 220. The storage container carrier 18 can receive thestorage container 106 from the storage container handling vehicle 3 a.

The first delivery rail system 308 is arranged at a level below thecontainer handling vehicle rail system 208 and the delivery vehicle 3 cis arranged on top of the first delivery rail system 308. The firstdelivery rail system 308 has a plurality of first sets of parallel rails310 arranged in a second horizontal plane P2 extending in a thirddirection X′ and a plurality of second sets of parallel rails 311extending in the fourth direction Y′ which is orthogonal to the thirddirection X′. As can be seen, the first and second sets of rails of thefirst delivery rail system form a grid pattern.

A plurality of container handling vehicles 3 a may be arranged on top ofthe container handling vehicle rail system 208, and a plurality ofdelivery vehicles can be arranged on the first delivery rail system 308.Further, the storage grid 204 has a plurality of transfer columns 219such that the plurality of storage container handling vehicles 3 a cantransfer storage containers 106 to and from the delivery vehicles 3 carranged on the first delivery rail system 308.

The figure also illustrates the first delivery rail system 308 having ahorizontal area/projection extending from below the transfer columns 219to an external side of the storage grid 204.

FIG. 5 illustrates the automated storage and retrieval grid 204 and thedelivery rail system 308 in FIG. 4. Further, FIG. 5 illustrates twovehicle lift devices 4 in a side-by-side arrangement for transferringdelivery vehicles 3 c between the second and third horizontal plane (P2,P3). As can be seen, a second delivery rail system 308′ is arranged in athird horizontal plane P3 having a delivery vehicle 3 c arrangedthereon. For simplicity only one of the two vehicle lifting devices 4will be referred to in the following disclosure of FIG. 5. The othervehicle lifting device may be substantially the same as the onedescribed.

The first and second delivery rail systems 308, 308′ are positioned sothat a part of an outer perimeter of the first delivery rail system 308is neighboring or is adjacent to at least a part of an outercircumference of the second delivery rail system 308′ when viewed fromabove. The horizontal distance between the outer perimeter of the firstdelivery rail system 308 which is neighboring the outer perimeter of thesecond delivery rail system 308′ is shown to be the size of one gridcell.

Since the delivery vehicle 3 c that moves on the first delivery railsystem 308 may be the same delivery vehicle 3 c that moves on the seconddelivery rail system 308′ the size/area of the grid cells are the samefor both the first and second delivery rail system 308, 308′.

The vehicle lift device 4 is positioned in the space between the firstand second delivery rail systems 308, 308′ but may also be located in ashaft (not shown) of for example the first delivery rail system 308. Ifa vehicle lift device 4 is located in a shaft, the first and seconddelivery rail system 308, 308′ can be positioned so that a part of theouter perimeter of the first delivery rail system 308 coincides (whenviewed from above) with at least a part of the outer perimeter of thesecond delivery rail system 308′.

The lifting device 4 has a lift mechanism 8 arranged to move a liftingarrangement 5 between the first lift stop position LS1, establishingaccess between the lifting arrangement 5 and the second location 370 ofthe first delivery rail system 308, and the second lift stop positionLS2, establishing access between the lifting arrangement 5 and the thirdlocation 380 of the second delivery rail system 308′.

In FIG. 5 the lifting arrangement 5 is arranged in the second lift stopposition LS2 enabling the vehicle to move from the lifting arrangementon to the second delivery rail system 308′.

As can be seen, the system 1 may comprise a plurality of vehicle liftdevices 4. The vehicle lift devices 4 can be arranged next to each otheras shown in FIG. 5, but may be arranged at any position within thesystem 1 allowing the vehicle lift device 4 to transfer a deliveryvehicle 3 c between the first and second delivery rail systems 308,308′.

The second delivery rail system 308′ can be arranged such that thedelivery vehicle 3 c can move to for example a production facility or apicking/stocking station where the storage container 106 can beaccessed, or it can be arranged at a level below a second automatedstorage and retrieval grid 204′ as shown in FIG. 11, or it can bearranged between a first and a second automated storage and retrievalgrid 204, 204′ functioning as a bridge there between as shown in FIG.12.

The second automated storage and retrieval grid 201′ may have the sameconfiguration as the first automated storage and retrieval grid 204.

FIGS. 6 to 8 illustrate, similar to FIG. 5, a first and second deliveryrail system 308, 308′ having a vehicle lift devices 4 positioned in thespace/position between the first and second delivery rail systems 308,308′. FIGS. 6 to 8 is a close-up view of the vehicle lift device 4 notshowing the first automated storage and retrieval grid in FIGS. 4 and 5.Further, the first delivery rail system 308 in FIGS. 6 to 8 is arrangedin the second horizontal plane P2 which is in a higher vertical levelthan the second delivery rail system 308′ arranged in the thirdhorizontal plane P3.

The first delivery rail system 308 has a first set of parallel rails 310extending in a third direction X′, and a second set of parallel rails311 extending in the fourth direction Y′ which is orthogonal to thethird direction X′.

The second delivery rail system 308′ has a first set of third set ofparallel rails 310′ extending in the fifth direction X″ and a second setof parallel rails 111″ extending in a sixth direction Y″ which isorthogonal to the fifth direction X″. The grid pattern of the first andsecond delivery rail system 308, 308′ comprises a plurality of adjacentgrid cells 322, 322′. Each grid cell 322 of the first delivery railsystem 308 is defined by a pair of neighboring rails 310 a, 310 b of thefirst set of rails 310 and a pair of neighboring rails 311 a, 311 b ofthe second set of rails 311, while each grid cell 322′ of the seconddelivery rail system 308′ is defined by a pair of neighboring rails310′a, 310′b of the first set of rails 310′ of the second delivery railsystem 308′ and a pair of neighboring rails 311′a, 311′b of the secondset of rails 311′.

FIG. 6 illustrates the lifting arrangement 5 of vehicle lift device 4positioned at the first lift stop position LS1 having the deliveryvehicle 3 c arranged on the lifting arrangement 5. The first lift stopposition LS1 is at the same vertical level as the second lift stopposition 370 and first delivery rail system 308. The first lift stopposition has established access between the lifting arrangement 5 andthe second location 370 allowing the delivery vehicle 3 c to movebetween the first lift stop position LS1 and the second location 370.

FIG. 7 illustrates the same part of the system as illustrated in FIG. 6,but where the lifting arrangement is positioned between the first andsecond lift stop position LS1, LS2.

FIG. 8 illustrates the same part of the system as illustrated in FIGS. 6and 7, but where the lifting arrangement is positioned at lift stopposition LS2. The second lift stop position LS2 is at the same verticallevel as the third location 380 and the second delivery rail system308′. The second lift stop position LS2 has established access betweenthe lifting arrangement 5 and the third location 380 allowing thedelivery vehicle 3 c to move from the second lift stop position LS2 tothe third location 380.

After the delivery vehicle 3 c has been removed from the liftingarrangement 5, the lifting arrangement 5 may wait for a second deliveryvehicle 3 c to enter the lifting arrangement 5 to transfer the seconddelivery vehicle 3 c to the first delivery rail system 308, or it mayreturn empty to load a second delivery vehicle 3 c from the firstdelivery rail system 308.

FIG. 9 illustrates a part of the system comprising a first, second andthird delivery rail system 308, 308′, 308″. The first automated storageand retrieval grid is not shown.

The first delivery rail system 308 is arranged in the second horizontalplane P2 at the same vertical level as the third delivery rail system308″ arranged in the fourth horizontal plane P4. The second deliveryrail system 308′ arranged in the third horizontal plane P3 is verticallydisplaced from the first and third delivery rail system 308, 308″ andarranged therebetween. The second delivery rail system may work as anoverpass/bridge rail system within a storage house as shown.

The system 1 has two vehicle lift devices 4, 4′ for transferringdelivery vehicles 3 c. The first vehicle lift device 4 transfersdelivery vehicles 3 c between the first delivery rail system 308 and thesecond delivery rail system 308′, while the second vehicle lift device4′ transfers delivery vehicles 3 c between the second delivery railsystem 308′ and the third delivery rail system 308″.

The first and second delivery rail system 308, 308′ has the sameconfiguration as shown in FIGS. 5 to 8 comprising sets of parallel railsforming a grid pattern.

The third delivery rail system 308″ also comprises a grid pattern. Thegrid pattern is formed by a first and a second set of parallel rails310″, 311″ extending in the seventh direction X″ and eights direction Y″respectively, where the seventh direction is orthogonal to the eightsdirection X″. The first and second set of parallel rails 310″, 311″ havea plurality of adjacent grid cells 322″ defined by a pair of neighboringrails 310″a, 310″b of the first set of parallel rails 310″, and a pairof neighboring rails 311″a, 311″b of the second set of parallel rails311″.

The delivery vehicle 3 c can be transferred between the first and seconddelivery rail systems 308, 308′ and between the second and thirddelivery rail system 308′, 308″.

When moving the delivery vehicle 3 c from for example the secondlocation to a fifth location 400, the lifting arrangement 5 of the firstvehicle lift device 4 will first be arranged at the first lift stopposition LS1 establishing access between the lifting arrangement 5 andthe second location 370 of the first delivery rail system 308, therebyenabling relocation of the delivery vehicle 3 c between the operativeposition on the first delivery rail system 308 and the support positionon the lifting arrangement 5. After the delivery vehicle 3 c rests atthe support position of the lifting arrangement, the vehicle lift device4 will transfer the lifting arrangement 5 with the delivery vehicle 3 cto the second lift stop position LS2 establishing access between thelifting arrangement 5 and the third location 380 of the second deliveryrail system 308′, thereby enabling relocation of the delivery vehicle 3c between the support position on the lifting arrangement 5 and theoperative position on the second delivery rail system 308′.

The delivery vehicle 3 c may then move on the second delivery railsystem 308′ to the fourth location 390 being adjacent the second liftstop position LS2′ of the second vehicle lift device 4′. When thelifting arrangement of the second vehicle lift device is arranged in thesecond lift stop position LS2′ access will be established between thelifting arrangement 5′ of the second vehicle lift device 4′ and thefourth location 390 of second delivery rail system 308′, therebyenabling relocation of the delivery vehicle 3 c from the operativeposition on the second delivery rail system 308′ to the support positionon the lifting arrangement 5′. Thereafter the lifting arrangement 5′with the delivery vehicle 3 c can be transferred to the first lift stopposition LS1′ of the second vehicle lift device 4′ establishing accessbetween the lifting arrangement 5′ and the fifth location of the thirddelivery rail system 308″, thereby enabling relocation of the deliveryvehicle 3 c from the support position on the lifting arrangement 5′ andthe operative position on the third delivery rail system 308″.

The second lift stop position LS2 of the first vehicle lift device 4 andsecond lift stop position LS2′ of the second vehicle lift device 4′ arearranged at the outer perimeter of the second delivery rail system 308′.In FIG. 9 the two lift stops positions LS2 and LS2′ are arranged at theopposite sides of the second delivery rail system 308′.

However, the two lift stop positions LS2 and LS2′ can be arranged at anyposition on the outer perimeter of the second delivery rail system 308′depending on the position of the first and third delivery rail system308, 308″ relative to the second delivery rail system 308′ for thevehicle lift devices 4,4′ to transfer a delivery vehicle 3 c therebetween.

FIG. 10 is a detailed view of the delivery vehicle 3 c arranged on thelifting arrangement 5 in the first lift stop position LS1 in FIG. 6. Thelifting arrangement 5 has a guiding and positioning structure comprisinga platform rail arrangement 9 having one first set of parallel rails 10.In this position access is established between the lifting arrangement 5and the first delivery rail system 308 enabling relocation of thedelivery vehicle 3 c between the operative position on the firstdelivery rail system 308 and the support position on the liftingarrangement 5. The rails 10 of the lifting arrangement 5 are compatiblewith the rails 310 of the first delivery rail system 308. The rails 10of the lifting arrangement 5 can be seen as an extension of thecorresponding first set of parallel rails 310 of the first delivery railsystem 308. The delivery vehicle 3 c can therefore easily be moved bythe wheels 6 being engaged with the parallel set of rails 310 from thefirst delivery rail system 308 on to the parallel set of rails 10 of thelifting arrangement 5.

A first safety barrier 17 is shown being in the form of a safety loop.When the delivery vehicle 3 c moves from the first delivery rail system308 on to the lifting arrangement 5 of the vehicle lift device 4, thesafety barrier 17 prevents the delivery vehicle 3 c from moving off thelifting arrangement 5.

The delivery vehicle 3 c has a storage container carrier 18 on top ofits chassis carrying the storage container 106.

The delivery vehicle 3 c may be a remotely operating vehicle comprisinga wheel arrangement of eight wheels 6, wherein a first set of fourwheels enable the lateral movement of the delivery vehicle 3 c along therails of the first and second delivery rail system 308, 308′. One orboth sets of wheels 6 in the wheel arrangement can be lifted andlowered, so that the first set of wheels and/or the second set of wheelscan be engaged with the respective set of rails at any one time.

FIG. 11 shows the first automated storage and retrieval grid 204 and thefirst delivery rail system 308 shown in FIGS. 4 and 5. Further, FIG. 11shows the second delivery rail system 308′ arranged at a third level P3below a second container handling vehicle rail system 208′ of a secondautomated storage and retrieval grid 204′. The second automated storageand retrieval grid 204′ has the same configuration as the firstautomated storage and retrieval grid 204 shown in FIG. 5 having aplurality of vertical members forming a plurality of storage columns205′ for storing storage containers in stacks (not shown). The verticalmembers are interconnected at their upper ends by the container handlingvehicle rail system 208′. The second transfer rail system furthercomprises a plurality of transfer columns 219 for transferring storagecontainers between the container handling vehicle 3 a moving on thesecond container handling vehicle rail system 208′ and the deliveryvehicle 3 c moving on the second delivery rail system 308′.

The vehicle lift device 4 coincides with a part of the outercircumference of the first delivery rail system 308 and a part of theouter circumference of the second delivery rail system 308′, and isarranged to transfer the delivery vehicle 3 c between the first andsecond delivery rail system 308, 308′.

The system 1 may further comprise an operator access station (not shown)adjacent to at least one side of first and/or second delivery railsystems 308, 308′.

FIG. 12 shows system 1 for storing and transporting storage containershaving a first automated storage and retrieval grid 204 as shown inFIGS. 4 and 5 having the first delivery rail system 308 arranged belowthe container handling vehicle rail system 208. The first delivery railsystem 308 comprises a delivery vehicle 3 c to be transported by thevehicle lift device 4. The system 1 further comprises a second automatedstorage and retrieval grid 204′ having a third delivery rail system 308″arranged below the top rail grid 208′ in a fourth level P4. Between thefirst and the second container handling vehicle rail system 208, 208′, asecond delivery rail system 308′ is arranged. In order to transport adelivery vehicle 3 c between the first and third delivery rail systems308,308″, two vehicle lift devices 4,4′ are arranged within the system.

The first vehicle lift device 4 transfers delivery vehicles 3 c betweenthe first delivery rail system 308 and the second delivery rail system308′, while the second vehicle lift device 4′ transfers deliveryvehicles 3 c between the second delivery rail system 308′ and the thirddelivery rail system 308″.

When moving the delivery vehicle 3 c from the first delivery rail system308 to the second delivery rail system 308′, the lifting arrangement 5of the first vehicle lift device 4 will be arranged at the first liftstop position LS1 establishing access between the lifting arrangement 5and the first delivery rail system 308, thereby enabling relocation ofthe delivery vehicle 3 c between the operative position on the firstdelivery rail system 308 the support position on the lifting arrangement5. Then the vehicle lift device 4 will transfer the lifting arrangement5 with the delivery vehicle 3 c to the second lift stop position LS2establishing access between the lifting arrangement 5 and the seconddelivery rail system 308′, thereby enabling relocation of the deliveryvehicle 3 c between the support position on the lifting arrangement 5and the operative position on the second delivery rail system 308′.

The delivery vehicle 3 c may then move on the second delivery railsystem 308′ towards a second lift stop position LS2′ of the secondvehicle lift device 4′ establishing access between the liftingarrangement 5′ of the second vehicle lift device 4′ and the seconddelivery rail system 308′, thereby enabling relocation of the deliveryvehicle 3 c from the operative position on the second delivery railsystem 308′ to the support position on the lifting arrangement 5′.Thereafter the lifting arrangement 5′ with the delivery vehicle 3 c canbe transferred to the first lift stop position LS1′ of the secondvehicle lift device 4′ establishing access between the liftingarrangement 5′ and the third delivery rail system 308″, thereby enablingrelocation of the delivery vehicle 3 c from the support position on thelifting arrangement 5′ and the operative position on the third deliveryrail system 308″.

The second lift stop position LS2 of the first vehicle lift device 4 andsecond lift stop position LS2′ of the second vehicle lift device 4′ arearranged at the outer perimeter of the second delivery rail system 308′.The two lift stops positions LS2 and LS2′ are arranged at the oppositesides of the outer perimeter of the second delivery rail system 308′being in the same level, P3 which is in the same level as the firsthorizontal plane P1.

However, the two lift stop positions LS2 and LS2′ can be arranged at anyposition on the outer perimeter of the second delivery rail system 308′depending on the position of the first and third delivery rail system308,308″ relative to the second delivery rail system 308′ for thevehicle lift device 4 to transfer the delivery vehicle 3 c therebetween.

Depending on the size and shape of the facility wherein the system 1 isarranged, a plurality of combinations of arrangements of delivery railsystems are possible. FIGS. 11 and 12 are illustrating two of a multipleof possible arrangements and show the flexibility of a facilitycomprising a system according to the invention.

REFERENCE NUMERALS

 1 System   3a Storage container handling vehicle, container handlingvehicle   3c Delivery vehicle  4 Vehicle lift device, first vehicle liftdevice   4′ Second vehicle lift device  5 Lifting arrangement  6 Wheels 8 Lift mechanism  9 Platform rail arrangement  10 first set of parallelrails of platform rail arrangement 9  17 Safety barrier/safety loop  18Storage container carrier 100 Prior art automated storage and retrievalsystem 102 Upright/vertical members of the storage grid 104 103Horizontal members of storage grid 104 104 storage grid/storage gridstructure/three-dimensional grid 105 Storage column 106 Storagecontainer 107 Stack 108 Rail system/top rail grid 110 First set ofparallel rails in first direction X 110a, 110b Pair of parallel railsforming the set of parallel rails 110 111 Second of parallel rails insecond direction Y 111a, 111b Pair of parallel rails forming the set ofparallel rails 111 112 Grid columns 115 Grid opening of storage grid 104119 First delivery column/delivery column 120 Transfer column 122 Gridcell/storage cell 202 Vertical members of first transfer rail storagesystem 204 First automated storage and retrieval grid/automated storageand retrieval grid  204′ Second automated storage and retrieval grid 205Storage column of first automated storage and retrieval grid  205′Storage columns of second automated storage and retrieval grid 208Container handling vehicle rail system of first automated storage andretrieval grid  208′ Container handling vehicle rail system of secondautomated storage and retrieval grid 210 First set of parallel railsextending in the first direction X of the container handling vehiclerail system 208 210a, 210b Neighboring rails of the first set of rails210 211 Second set of parallel rails extending in the second direction Yof container handling vehicle rail system 208 211a, 211b Neighboringrails of the second set of rails 211 215 Container handling vehicle gridopening 219 Transfer column 220 Delivery space 222 Container handlingvehicle grid cells 308 First delivery rail system  308′ Second deliveryrail system  308″ Third delivery rail system 310 First set of parallelrails extending in the third direction X′  310′ First set of parallelrails extending in the fifth direction X″  310″ First set of parallelrails extending in the seventh direction X′″ 310a, 310b Neighboringrails of the first set of rails 310 310′a, 310′b Neighboring rails ofthe first set of rails 310′ 310″a, 310″b Neighboring rails of the firstset of rails 310″ 311 Second set of parallel rails extending in thefourth direction Y′  311′ second set of parallel rails extending in thesixth direction Y″  311″ second set of parallel rails extending in theeights direction Y′″ 311a, 311b Neighboring rails of the second set ofrails 311 311′a, 311′b Neighboring rails of the second set of rails 311′311″a, 311″b Neighboring rails of the second set of rails 311″ 322 Gridcell of first delivery rail system 308  322′ Grid cell of seconddelivery rail system 308′  322″ Grid cell of third delivery rail system308′ 360 Storage container delivery location 370 Second location 380Third location 390 Fourth location 400 Fifth location X First direction X′ Third direction  X″ Fifth direction   X′″ Seventh direction Y Seconddirection  Y′ Fourth direction  Y″ Sixth direction   Y′″ Eighthdirection P Horizontal plane P1 Horizontal plane of the containerhandling vehicle rail system 208 P2 Horizontal plane of the firstdelivery rail system 308 P3 Horizontal plane of the second delivery railsystem 308′ P4 Horizontal plane of the third delivery rail system 308″LS1 First lift stop position of lift device 4  LS1′ First lift stopposition of second lift device 4′ LS2 Second lift stop position of liftdevice 4  LS2′ Second lift stop position of second lift device 4′

1. A system for storing and transporting storage containers comprising:an automated storage and retrieval grid comprising: vertical membersdefining multiple storage columns for storing storage containers on topof each other in vertical stacks, wherein the vertical members areinterconnected at their upper ends by a container handling vehicle railsystem arranged to guide at least one container handling vehicle beingconfigured to raise storage containers from, and lower storagecontainers into, the storage columns, and to transport the storagecontainers above the storage columns, wherein the container handlingvehicle rail system comprises a first set of parallel rails arranged ina first horizontal plane and extending in a first direction, and asecond set of parallel rails arranged in the first horizontal plane andextending in a second direction which is orthogonal to the firstdirection, which first and second sets of rails form a grid pattern inthe first horizontal plane comprising a plurality of adjacent containerhandling vehicle grid cells, each container handling vehicle grid cellcomprising a container handling vehicle grid opening defined by a pairof neighboring rails of the first set of rails and a pair of neighboringrails of the second set of rails, a transfer column adapted fortransport of a storage container between the container handling vehicleand a delivery space situated at a lower end of the transfer column; adelivery system comprising a first delivery rail system having at leastone set of parallel rails arranged in a second horizontal plane guidingat least one delivery vehicle thereon, wherein the delivery vehicle isadapted to receive and/or deliver a storage container at a storagecontainer delivery location arranged below the delivery space of thetransfer column and to move between the storage container deliverylocation and a second location, the first delivery rail system covers atleast an area extending from the storage container delivery location tothe second location, a vehicle lift device for transfer of the at leastone delivery vehicle between a first lift stop position adjacent thesecond location in the second horizontal plane and a second lift stopposition adjacent a third location arranged in a third horizontal planebeing at a different vertical level than the second horizontal plane. 2.The system according to claim 1, wherein the vehicle lift devicecomprises a lifting arrangement arranged to support the at least onedelivery vehicle and a lift mechanism arranged to move the liftingarrangement between a first lift stop position to a second lift stopposition, wherein the first lift stop position establishes accessbetween the lifting arrangement and the second location for enablingrelocation of the at least one delivery vehicle between a supportposition on the lifting arrangement and an operative position at thesecond location on the first delivery rail system, and the second liftstop position establishes access between the lifting arrangement and thethird location for enabling relocation of the at least one deliveryvehicle between the support position on the lifting arrangement and anoperative position at the third location.
 3. The system according toclaim 2, wherein the lift mechanism is configured to move the liftingarrangement in a purely vertical direction between the first lift stopposition and the second lift stop position.
 4. The system according toclaim 2, wherein the lifting arrangement comprises a guiding andpositioning structure for maintaining the at least one vehicle in amotionless or near motionless position on the lifting arrangement duringtransfer of the lifting arrangement between the first and second liftstop position.
 5. The system according to claim 4, wherein the guidingand positioning structure comprises a platform rail arrangementcomprising: at least a first set of parallel rails, and/or at least asecond set of parallel rails being perpendicular to the first set ofparallel rails, wherein the platform rail arrangement is level with thefirst delivery rail system when the lifting arrangement is placed in thefirst lift stop position thereby enabling the at least one deliveryvehicle to move between the first delivery rail system and the platformrail arrangement, and the platform rail arrangement is level with asecond delivery rail system at the third location when the liftingarrangement is placed in the second lift stop position thereby enablingthe at least one delivery vehicle to move between the second deliveryrail system and the platform rail arrangement.
 6. The system accordingto claim 5, wherein the horizontal extent of the platform railarrangement is equal to or larger than the horizontal extent of the atleast one delivery vehicle to be transferred between the first lift stopposition and the second lift stop position.
 7. The system according toclaim 4, wherein the guiding and positioning structure comprises a baseplate structure for receiving the at least one delivery vehicle.
 8. Thesystem according to claim 2, wherein lifting arrangement comprises atleast two side walls for receiving the at least one delivery vehicle inthe area defined by the at least two side walls and the guiding andpositioning structure.
 9. The system according to claim 1, wherein thelift device further comprises a first safety barrier configured torestrict further horizontal movement of the at least one deliveryvehicle when the at least one delivery vehicle is moving to or from thesupport position.
 10. The system according to claim 1, wherein thevehicle lift device further comprises a second safety barrier extendingvertically for restricting horizontal displacement of the at least onedelivery vehicle when the platform is moving between the first lift stopposition and the second lift stop position.
 11. The system according toclaim 1, wherein the first delivery rail system comprises a first set ofparallel rails arranged in the second horizontal plane and extending ina third direction, and a second set of parallel rails arranged in thesecond horizontal plane and extending in a fourth direction which isorthogonal to the third direction, which first and second sets of railsform a grid pattern.
 12. The system according to claim 5, wherein seconddelivery rail system comprises at least one set of parallel railsarranged in the third horizontal plane guiding at least one deliveryvehicle thereon, the second delivery rail system extending from thethird location to a fourth location.
 13. The system according to claim12, wherein second delivery rail system comprises a first set ofparallel rails arranged in the third horizontal plane and extending in afifth direction, and a second set of parallel rails arranged in thethird horizontal plane and extending in a sixth direction which isorthogonal to the fifth direction, which first and second sets of railsform a grid pattern.
 14. The system according to claim 12, wherein itthe first horizontal plane is at the same level as the third horizontalplane.
 15. The system according to claim 12, wherein the system furthercomprises a second vehicle lift device for transfer of the at least onedelivery vehicle between the fourth location on the second delivery railsystem and a fifth location arranged in a fourth horizontal plane beingat a different vertical level than the third horizontal plane.
 16. Thesystem according to claim 15, wherein the fourth horizontal plane is atthe same level as the second horizontal plane.
 17. The system accordingto claim 1, wherein the delivery vehicle comprises a storage containercarrier provided above a chassis of the delivery vehicle.
 18. The systemaccording to claim 1, wherein the third location comprises an interfaceconnected to a third-party storage, production and distribution system.19. A building comprising a system according to claim 1, wherein thesecond and third horizontal plane represent floors at different levelswithin the building.
 20. A method of operating a system for storing andtransporting storage containers comprising: an automated storage andretrieval grid comprising: vertical members defining multiple storagecolumns for storing storage containers on top of each other in verticalstacks, wherein the vertical members are interconnected at their upperends by a container handling vehicle rail system arranged to guide atleast one container handling vehicle being configured to raise storagecontainers from, and lower storage containers into, the storage columns,and to transport the storage containers above the storage columns,wherein the container handling vehicle rail system comprises a first setof parallel rails arranged in a first horizontal plane and extending ina first direction, and a second set of parallel rails arranged in thefirst horizontal plane and extending in a second direction which isorthogonal to the first direction, which first and second sets of railsform a grid pattern in the first horizontal plane comprising a pluralityof adjacent container handling vehicle grid cells, each containerhandling vehicle grid cell comprising a container handling vehicle gridopening defined by a pair of neighboring rails of the first set of railsand a pair of neighboring rails of the second set of rails, a transfercolumn adapted for transport of a storage container between thecontainer handling vehicle and a delivery space situated at a lower endof the transfer column; a delivery system comprising a first deliveryrail system having at least one set of parallel rails arranged in asecond horizontal plane guiding at least one delivery vehicle thereon,wherein the delivery vehicle is adapted to receive or deliver a storagecontainer at a storage container delivery location arranged below thedelivery space of the transfer column and to move between the storagecontainer delivery location and a second location, the first deliveryrail system is at least covering an area extending from the storagecontainer delivery location to the second location, a vehicle liftdevice for transfer of the at least one delivery vehicle between thesecond location and a third location arranged in a third horizontalplane being at a different vertical level than the second horizontalplane, wherein method comprises: i) moving the delivery vehicle from thesecond location onto a first lift position of the vehicle lift device,ii) moving the delivery vehicle to a second lift stop position of thevehicle lift device (4) enabling access between the vehicle lift deviceand the third location, and iii) moving the delivery vehicle to thethird location.
 21. The method of operating a system according to claim20, the method prior to step i) comprises the steps of: a) moving thecontainer handling vehicle to a location on the container handlingvehicle rail system for transferring a storage container into thetransfer column, b) moving the delivery vehicle to the storage containerdelivery location, c) transferring the storage container from thecontainer handling vehicle through the transfer column to the deliveryspace and on to the delivery vehicle, d) moving the delivery vehiclefrom the storage container delivery location to the second location tothereby move the storage container.
 22. The method in accordance withclaim 20, wherein the method further comprises: iv) moving the deliveryvehicle to an access area for handling the storage container by arobotic operator and/or a human operator.